The invention relates to the technical field of automatic driving, particularly provides an intersection turning method, a readable storage medium and intelligent equipment, and aims to solve the problem of how to realize safe intersection turning in accordance with human driving habits in an automatic driving mode. In order to achieve the purpose, the intersection redundancy topology corresponding to the to-be-planned intersection can be obtained, and path planning is performed on the to-be-planned intersection according to the intersection redundancy topology, so that intersection turning of the intelligent equipment in an automatic driving state is realized. Since the intersection redundancy topology is a lane link in which the driving probability of the manual driving historical trajectory data in the to-be-planned intersection is smaller than the preset probability threshold, the to-be-planned path is planned based on the intersection redundancy topology, and the lane link with low driving probability of manual driving can be effectively avoided in an automatic driving state. Therefore, the automatic driving state is closer to the manual driving state, so as to ensure that under the automatic driving state, human driving habits are better met, and safe intersection turning is realized.
本申请涉及自动驾驶技术领域,具体提供一种路口转弯方法、可读存储介质及智能设备,旨在解决如何实现自动驾驶模式下,更为符合人类驾驶习惯且安全地路口转弯的问题。为此目的,本申请可以获得待规划路口对应的路口冗余拓扑,根据路口冗余拓扑来对待规划路口进行路径规划,从而实现智能设备在自动驾驶状态下的路口转弯。由于路口冗余拓扑是待规划路口中人工驾驶历史轨迹数据的行驶概率小于预设概率阈值的车道链路,基于路口冗余拓扑对待规划路径进行路径规划,能够实现在自动驾驶状态下有效规避人工驾驶的行驶概率较低的车道链路,从而实现自动驾驶状态更为接近人工驾驶状态,以确保在自动驾驶状态下,更为符合人类驾驶习惯且安全地路口转弯。
Intersection turning method, readable storage medium and intelligent equipment
路口转弯方法、可读存储介质及智能设备
2024-06-25
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Intersection parking method, device and equipment and computer readable storage medium
European Patent Office | 2025
|Intersection passage estimation method, computer equipment and computer readable storage medium
European Patent Office | 2020
|Intersection passing method and device, electronic equipment and readable storage medium
European Patent Office | 2024
|Vehicle intersection passing method, device and equipment and readable storage medium
European Patent Office | 2023
|European Patent Office | 2023
|